Method of removing tissue from food product

A system for identifying and removing tissue from a food product, comprising:

• a scanner for generating a three-dimensional model of the food product, wherein the scanner scans the food product such that cross-sectional scanning images, Ii, are generated, wherein i=1, 2, 3, . . . n and n is an integer greater than 1;
• a processor for mapping the three-dimensional model onto the food product, scanning the food product such that cross-sectional scanning images, Ii, are generated based on the three-dimensional model, wherein i=1, 2, 3, . . . n and n is an integer greater than 1, for each cross-sectional scanning image, Ii, determining at least a maximum thickness, Tmax,i, of the food product based on the three-dimensional model, for each cross-sectional scanning image, Ii, identifying a corresponding estimated tissue point, TPi, by using an identification method selected from the group consisting of:
• (a) wherein a thickness of the cross-sectional scanning image, Ii, of the three-dimensional model is at least a predetermined percentage of the maximum thickness, Tmax,i, on the food product, and (b) wherein the point, TPi, is selected as being on the ventral side of the point of maximal thickness, Tmax,i, and at a distance from the point of maximal thickness, Tmax,i, where the distance can be customized based on a particular size of the model;
• fitting a curve to the estimated tissue points, TPi, and generating a cut path based on the fitted curve, wherein the cut path defines an area of unwanted tissue that comprises the estimated tissue points, TPi;
• a cutting assembly for cutting the food product along the cut path, thereby, removing the area of unwanted tissue.

A non-transitory computer-readable medium for executing instructions regarding a method for identifying and removing tissue from a food product, the method comprising:

• mapping a three-dimensional model onto a food product;
• scanning the food product such that cross-sectional scanning images, Ii, are generated based on the three-dimensional model, wherein i=1, 2, 3, . . . n and n is an integer greater than 1;
• for each cross-sectional scanning image, Ii, determining at least a maximum thickness, Tmax,i, of the food product based on the three-dimensional model;
• for each cross-sectional scanning image, Ii, identifying a corresponding estimated tissue point, TPi, by using an identification method selected from the group consisting of:
• (a) wherein a thickness of the cross-sectional scanning image, Ii, of the three-dimensional model is at least a predetermined percentage of the maximum thickness, Tmax,i, on the food product, and (b) wherein the point, TPi, is selected as being on the ventral side of the point of maximal thickness, Tmax,i, and at a distance from the point of maximal thickness, Tmax,i, where the distance can be customized based on a particular size of the model
• fitting a curve to the estimated tissue points, TPi, and
• generating a cut path based on the fitted curve, wherein the cut path defines an area of unwanted tissue that comprises the estimated tissue points, TPi;
• controlling a cutting assembly for cutting the food product along the cut path, thereby, removing the area of unwanted tissue.